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Copter/Plane: handle QGC command uploads alt MAV_FRAME_GLOBAL_TERRAIN_ALT_INT #12917
ArduPilot Copter and Plane only accept mission commands with terrain altitudes specified as MAV_FRAME_GLOBAL_TERRAIN_ALT ("10") but QGC uploads these using MAV_FRAME_GLOBAL_TERRAIN_ALT_INT ("11"). We should accept either.
At the moment, if the user attempts to upload using QGC, the altitude will silently be changed to an absolute altitude which is bad behaviour in itself actually.
The difficulty may come when we have to reply to the ground stations consistently with what they have uploaded (i.e. reply with TERRAIN_ALT_INT if that's what they uploaded).
I thought that we could add, "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT" to this list of cases here but it doesn't seem to help.
I'd have to double check but historically we always respond in whatever we think it should be regardless of the GCS request, which isn't the worst thing. Frankly the
Anyways I'd agree that the 2 obvious things to do at the moment (that should be fairly quick):
@DonLakeFlyer I think this might be an issue in QGC.
It definitely seems to be uploading with an incorrect frame.
Take this mission:
When I added this debug:
One of those items should have a frame of 10 -
The frame is zero in the saved file, but reloading the file does seem to work - I guess it's going off the other fields in the JSON.
@DonLakeFlyer should I raise an issue against QGC?